ardupilot/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef.dat

# hw definition file for processing by chibios_hwdef.py
# for FLYWOOF405S_AIO hardware.
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F4xx STM32F405xx

# board ID for firmware load
APJ_BOARD_ID 1099

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 1024

# bootloader takes first sector
FLASH_RESERVE_START_KB 48

define HAL_STORAGE_SIZE 16384
define STORAGE_FLASH_PAGE 1

STM32_ST_USE_TIMER 5

# SPI devices

# SPI1
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI3
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

# Chip select pins
PB3 FLASH1_CS CS
PB14 OSD1_CS CS
PB12 GYRO1_CS CS

# Beeper
PC13 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80



# SERIAL ports
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
# PA10 IO-debug-console
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USART1 (ELRS)
PA10 USART1_RX USART1
PB6 USART1_TX USART1
define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN

# USART2 (GPS)
PD5 USART2_TX USART2 NODMA
PD6 USART2_RX USART2
define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_GPS

# USART3 (RX)
PB10 USART3_TX USART3
PB11 USART3_RX USART3

# UART4 (TELEM)
PA0 UART4_TX UART4
PA1 UART4_RX UART4 NODMA

# UART5
PD2 UART5_RX UART5 NODMA

# USART6 (VTX)
PC6 USART6_TX USART6 NODMA
PC7 USART6_RX USART6 NODMA

# I2C ports
I2C_ORDER I2C1
# I2C1
PB8 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1

# Servos

# ADC ports

# ADC1
PC0 RSSI_ADC ADC1
define BOARD_RSSI_ANA_PIN 10
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
define HAL_BATT_CURR_PIN 12
define HAL_BATT_CURR_SCALE 60.2
PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
define HAL_BATT_VOLT_PIN 13
define HAL_BATT_VOLT_SCALE 11.0
define HAL_BATT_MONITOR_DEFAULT 4

# MOTORS
PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50)       # M1
PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR # M2
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52) BIDIR # M3
PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53)       # M4

# LEDs
PA9 TIM1_CH2 TIM1 PWM(5) GPIO(54) # M5

define AP_NOTIFY_GPIO_LED_1_ENABLED 1
PC14 LED0 OUTPUT LOW GPIO(90)
define HAL_GPIO_A_LED_PIN 90

# Dataflash setup
SPIDEV dataflash SPI3 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ

define HAL_LOGGING_DATAFLASH_ENABLED 1

# OSD setup
SPIDEV osd SPI3 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ

define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin

# Barometer setup
BARO BMP280 I2C:0:0x76
        
# Barometer setup
BARO DPS310 I2C:0:0x76
        
# IMU setup
SPIDEV icm42688  SPI1 DEVID1 GYRO1_CS   MODE3   2*MHZ   16*MHZ
SPIDEV mpu6000   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ

IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180
IMU Invensense   SPI:mpu6000  ROTATION_YAW_90

DMA_NOSHARE SPI1*
DMA_PRIORITY TIM3_UP TIM1_UP SPI1*

# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_I2C_INTERNAL_MASK 0
define HAL_COMPASS_AUTO_ROT_DEFAULT 2
define HAL_DEFAULT_INS_FAST_SAMPLE 3
# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12

define DEFAULT_NTF_LED_TYPES 257

# save some flash space
include ../include/minimize_fpv_osd.inc
AUTOBUILD_TARGETS Copter